Getting Started

Start by cloning the repository:

git clone https://github.com/EGalahad/sim2real

sim2real is split into two environments:

• The root project is for policy inference, MuJoCo simulation, and robot I/O.
• venv/teleop is for Pico / XR retargeting with built-in mjviser viewing, and motion recording.

This project supports two hardware layouts:

• PC (x86_64) running the pipeline while controlling G1 over Ethernet.
• G1 onboard Orin running the entire pipeline locally on the robot.

Runtime Architecture

The policy runtime is decoupled from the execution backend. In sim2sim, the backend is MuJoCo. In sim2real, choose one of the Robot I/O modes for hardware.

Sim2Sim

Sim2Real

Next Steps

• Download runtime files from Download Artifacts.
• Choose a Network Configuration before running on hardware.
• Use Root Project if you only need policy, sim2sim, or robot I/O runtime.
• Choose the real-robot deploy path in Robot I/O.
• Use Teleop Project (x86_64 PC) if Pico / XR tools run on a laptop or desktop.
• Use Teleop Project (Onboard Orin) if teleop tooling runs on the robot.